WO2021114995A1 - 用于收纳地面清理机器人的基站和地面清理机器人系统 - Google Patents

用于收纳地面清理机器人的基站和地面清理机器人系统 Download PDF

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Publication number
WO2021114995A1
WO2021114995A1 PCT/CN2020/127791 CN2020127791W WO2021114995A1 WO 2021114995 A1 WO2021114995 A1 WO 2021114995A1 CN 2020127791 W CN2020127791 W CN 2020127791W WO 2021114995 A1 WO2021114995 A1 WO 2021114995A1
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WO
WIPO (PCT)
Prior art keywords
base station
cleaning robot
floor cleaning
accommodating
receiving unit
Prior art date
Application number
PCT/CN2020/127791
Other languages
English (en)
French (fr)
Inventor
王彪
张煜
李佶
Original Assignee
苏州宝时得电动工具有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 苏州宝时得电动工具有限公司 filed Critical 苏州宝时得电动工具有限公司
Publication of WO2021114995A1 publication Critical patent/WO2021114995A1/zh

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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4002—Installations of electric equipment
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4002—Installations of electric equipment
    • A47L11/4005—Arrangements of batteries or cells; Electric power supply arrangements
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4002—Installations of electric equipment
    • A47L11/4008—Arrangements of switches, indicators or the like
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04Q—SELECTING
    • H04Q1/00—Details of selecting apparatus or arrangements
    • H04Q1/02—Constructional details
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/02—Docking stations; Docking operations

Definitions

  • the present disclosure relates to the field of household appliances, and in particular to a base station and a floor cleaning robot system for storing floor cleaning robots.
  • ground cleaning robots and mopping robots on the market that are used for ground cleaning.
  • a ground cleaning robot can be placed at a certain location where the ground cleaning robot can travel.
  • Base station After the ground cleaning robot finishes sorting the ground, it can travel by itself to park in the base station.
  • the base station can also have the function of charging the ground cleaning robot, and the battery in the ground cleaning robot can also be automatically driven to the base station for charging when the battery power of the ground cleaning robot is insufficient.
  • the ground cleaning robot In order to realize the automatic return of the ground cleaning robot to the base station, it basically relies on the charging stand or the base station to emit infrared light, and the ground cleaning robot receives the base station signal to confirm the position, and realizes parking and/or recharging.
  • the infrared signal emitted by the base station is easily affected by obstacles. For example, a large proportion of households have pets such as cats and dogs. When these pets are inside the base station, the ground cleaning robot may not be able to enter the base station or be unable to find the location of the charging mechanism on the base station, thus making it impossible to recycle and recharge the ground cleaning robot.
  • the ground cleaning robot will report an error after a long base station search instead of reminding the user that a foreign object has entered the base station.
  • the technical problem to be solved by the embodiments of the present disclosure is to provide a base station and a ground cleaning robot system for storing ground cleaning robots, which can detect foreign objects inside the base station and prevent the ground cleaning robots. Foreign objects enter the base station during work.
  • a base station for accommodating ground cleaning robots characterized in that the base station includes: a main body, and the main body has an accommodating cavity for accommodating the ground cleaning robot. There is an opening for the floor cleaning robot to enter the accommodating cavity; a shielding mechanism installed on the main body, the shielding mechanism can shield the opening so that the opening has an open state and a closed state; a detection mechanism The detection mechanism can detect whether there is a foreign object in the accommodating cavity, and the detection mechanism includes a transmitting unit provided on the inner wall of the main body and a receiving unit provided on the inner wall of the main body, and the receiving unit is used for receiving The signal sent by the transmitting unit and passing through the accommodating cavity, so that the shielding mechanism can switch the state of the opening; the shielding mechanism includes a shielding member and a motor or a magnetic member for driving the shielding member to rotate , Both ends of the shielding member are respectively mounted on the main body through shafts, and the shielding member can rotate around the shaft; when the floor cleaning
  • the embodiment of the present disclosure also provides a base station for storing ground cleaning robots, and the base station for storing ground cleaning robots includes:
  • a main body the main body has an accommodating cavity for accommodating a floor cleaning robot, and the main body has an opening for the floor cleaning robot to enter the accommodating cavity;
  • a shielding mechanism installed on the main body, the shielding mechanism can shield the opening so that the opening has an open state and a closed state;
  • the floor cleaning robot When the floor cleaning robot needs to enter the accommodation cavity of the base station, the floor cleaning robot communicates with the base station for accommodating the floor cleaning robot, so that the shielding mechanism switches the opening from the closed state To the open state; when the floor cleaning robot leaves the accommodating cavity, the opening enters a closed state.
  • the base station for storing the ground cleaning robot further includes:
  • a detection mechanism capable of detecting whether there is a foreign object in the containing cavity, the detection mechanism includes a transmitting unit and a receiving unit, and the receiving unit is used to receive a signal sent by the transmitting unit and passing through the containing cavity .
  • the transmitting unit is arranged on the inner wall of the main body, and the receiving unit is on the inner wall of the main body.
  • the transmitting unit and the receiving unit are oppositely arranged on the inner wall of the main body.
  • the receiving unit when the receiving unit receives the signal sent by the transmitting unit, it is determined that no foreign matter has entered the containing cavity; when the receiving unit cannot receive the signal sent by the transmitting unit, it is determined Foreign matter enters into the accommodating cavity.
  • the transmitting unit and the receiving unit are arranged on the same side of the inner wall of the main body, and the base station for accommodating the floor cleaning robot further includes: the transmitting unit and the receiving unit arranged on the inner wall of the main body.
  • the unit is located at a reflector on the opposite side of one side, and the reflector is used to reflect the signal sent by the transmitting unit to the receiving unit.
  • the transmitting unit and the receiving unit are arranged on the same side of the inner wall of the main body; when the receiving unit receives the signal sent by the transmitting unit, it is determined that there is a foreign object in the containing cavity; When the receiving unit cannot receive the signal sent by the transmitting unit, it is determined that no foreign matter enters the accommodating cavity.
  • the transmitting unit is a light transmitting unit, and the receiving unit is a light receiving unit; or the transmitting unit is an ultrasonic transmitting unit, and the receiving unit is an ultrasonic receiving unit.
  • the base station sends a reminder message to the user.
  • the shielding mechanism includes: a shielding member, both ends of which are respectively mounted on the main body through a shaft, the shielding member can be rotated around the shaft, and the shielding member can shield the opening by rotating to make The opening has an open state and a closed state.
  • the shielding mechanism further includes a motor, the shielding member has a gear portion at one end of the rotating shaft, and the motor is drivingly connected to the gear portion of the shielding member, so that the gear portion drives the shielding member to perform Rotate.
  • the shielding mechanism further includes a worm, the motor is connected with the worm, and the worm is meshed with the gear part.
  • the shielding mechanism further includes: a magnetic member arranged on the shielding member; an electromagnet arranged on the main body, when the electromagnet is energized, the electromagnet generates an attractive force on the magnetic member So that the magnetic member drives the shielding member to rotate until the opening is in the open state; when the electromagnet is not energized, the shielding member rotates until the opening is in the closed state.
  • the shielding mechanism closes the opening again.
  • the state is switched to the on state.
  • the floor cleaning robot communicates with the base station, so that the shielding mechanism switches the opening from a closed state to an open state.
  • the ground cleaning robot system includes: a ground cleaning robot; and a base station for storing a ground cleaning robot as described above.
  • the opening is opened and the floor cleaning robot leaves the accommodating cavity of the main body.
  • the opening enters a closed state, which can effectively reduce the possibility of foreign objects entering the accommodating cavity.
  • the floor cleaning robot needs to enter the accommodation cavity of the base station, the floor cleaning robot communicates with the base station for accommodating the floor cleaning robot, so that the shielding mechanism switches the opening from the closed state To the open state, the surface cleaning robot then enters the receiving cavity of the main body, and then the opening is closed.
  • the base station for accommodating the floor cleaning robot in the present application can effectively avoid reducing the possibility of foreign objects entering the accommodating cavity under the premise of ensuring that the floor cleaning robot is convenient to enter and exit.
  • Fig. 1 is a schematic structural diagram of a base station for storing a ground cleaning robot in an embodiment of the disclosure.
  • Fig. 2 is a schematic structural diagram of a base station for storing ground cleaning robots in another implementation manner in an embodiment of the disclosure.
  • connection should be understood in a broad sense. For example, it can be a mechanical connection or an electrical connection, or it can be a connection between two components, which can be directly connected or indirectly connected through an intermediary.
  • connection should be understood in a broad sense. For example, it can be a mechanical connection or an electrical connection, or it can be a connection between two components, which can be directly connected or indirectly connected through an intermediary.
  • connection should be understood in a broad sense. For example, it can be a mechanical connection or an electrical connection, or it can be a connection between two components, which can be directly connected or indirectly connected through an intermediary.
  • connection can be a mechanical connection or an electrical connection, or it can be a connection between two components, which can be directly connected or indirectly connected through an intermediary.
  • FIG. 1 is an embodiment of the disclosure for accommodating the ground.
  • FIG. 2 is a schematic structural diagram of a base station for accommodating a ground cleaning robot in an embodiment of the present disclosure in another embodiment, as shown in FIGS. 1 and 2, for accommodating a floor cleaning robot.
  • the base station may include: a main body 1, which has a housing cavity 11 for accommodating a floor cleaning robot, and the main body 1 has an opening 12 for the floor cleaning robot to enter the housing cavity 11; a shielding mechanism 2 installed on the main body 1, the shielding mechanism 2
  • the opening 12 can be shielded so that the opening 12 has an open state and a closed state; when the floor cleaning robot needs to enter the accommodating cavity 11 of the base station, the floor cleaning robot and the floor cleaning robot for receiving
  • the base station of the base station communicates so that the shielding mechanism switches the opening 12 from the closed state to the open state; when the floor cleaning robot leaves the accommodating cavity, the opening 12 enters the closed state.
  • the opening When the floor cleaning robot of the base station used for accommodating the floor cleaning robot in this application needs to leave the accommodating cavity 11 of the main body 1, the opening is opened and the floor cleaning robot leaves the accommodating cavity 11 of the main body 1.
  • the opening When the floor cleaning robot leaves the containing cavity, the opening enters a closed state, which can effectively reduce the possibility of foreign matter entering the containing cavity 11.
  • the floor cleaning robot When the floor cleaning robot needs to enter the containing cavity 11 of the base station, the floor cleaning robot communicates with the base station for accommodating the floor cleaning robot, so that the shielding mechanism closes the opening 12
  • the state is switched to the open state, the face cleaning robot then enters the receiving cavity 11 of the main body 1, and then the opening is closed.
  • the base station for accommodating the floor cleaning robot in the present application can effectively avoid reducing the possibility of foreign objects entering the accommodating cavity 11 under the premise of ensuring that the floor cleaning robot is convenient to enter and exit.
  • the main body 1 of the base station for accommodating the floor cleaning robot is used for accommodating the floor cleaning robot.
  • the main body 1 of the base station stores the floor cleaning robot therein.
  • the main body 1 has an accommodation cavity 11 for accommodating the floor cleaning robot.
  • the shape of the accommodation cavity 11 can match the shape of the floor cleaning robot. It is necessary to ensure that the floor cleaning robot can drive in and be substantially or completely located in the accommodation cavity 11.
  • the horizontal cross section of the main body 1 can be substantially square or rectangular, and the floor cleaning robot can drive into the containing cavity 11 and stay in it.
  • the main body 1 has an opening 12 for the floor cleaning robot to enter the containing cavity 11; the opening 12 communicates with the containing cavity 11.
  • the opening 12 may be located at a certain side of the main body 1, and the floor cleaning robot can drive into the accommodating cavity 11 from the opening 12 on the side of the main body 1 on the ground.
  • the size of the opening 12 is larger than the size of the floor cleaning robot, so that the floor cleaning robot can drive into the accommodating cavity 11 through the opening 12.
  • the shielding mechanism 2 of the base station for accommodating the floor cleaning robot can be installed on the main body 1.
  • the shielding mechanism 2 can shield the opening 12 so that the opening 12 has an open state and a closed state.
  • the shielding mechanism 2 shields the opening 12, the opening 12 is in a closed state; when the shielding mechanism 2 does not shield the opening 12, the opening 12 is in an open state.
  • the shielding mechanism 2 may include: a shielding member 21, both ends of which are respectively mounted on the main body 1 through shafts, and the shielding member 21 can rotate around the shaft to shield The member 21 can shield the opening 12 by rotating so that the opening 12 has an open state and a closed state.
  • There may be one or two shielding members 21, which are respectively installed at the top and bottom of the opening.
  • the upper and lower ends of the edge of the shielding member 21 may only have protrusions, which can be installed on the main body 1 to act as a shaft for rotation.
  • the partial shielding member 21 located at the opening 12 will rotate to the inside of the accommodating cavity 11 or the outside of the base station with the axis as the center, so that the shielding member 21 is far away from the opening 12. Enter the open state.
  • the shielding member 21 is close to the opening 12, so that the shielding member 21 shields the opening 12, thereby preventing foreign objects or the floor cleaning robot from entering the accommodating cavity 11 of the main body 1.
  • the shielding mechanism 2 may include: a motor 22.
  • the shielding member 21 has a gear portion 211 at one end of the rotating shaft. 211 may be located at the end of the shield 21 and the rotation axis of the shield 21 is perpendicular to the end surface of the gear, and the motor 22 is drivingly connected with the gear 211 of the shield 21.
  • the gear part 211 can drive the shield 21 to rotate inside the accommodating cavity 11 or outside of the base station; when the shield 21 rotates toward the opening 12, it is only necessary to make the motor 22 rotate in the opposite direction. Rotate in the direction of.
  • the shielding mechanism may include: a worm 23, the motor is connected with the worm 23, and the worm 23 is meshed with the gear part 211. Since the height and width of the base station are limited and the volume cannot be too large, the shaft of the motor 22 is inconvenient to be arranged parallel to the rotation shaft of the shield 21. Through the worm 23 for transmission, the shaft of the motor 22 can be perpendicular to the axis of rotation of the shield 21. In this way, the motor can be arranged on the upper and lower sides of the base station as shown in FIG. 1, and the shaft of the motor is in a horizontal state.
  • the motor 22 drives the worm 23 to rotate, which in turn drives the gear part 211 to rotate, so that the shield 21 rotates.
  • the position setting of the motor 22 can be optimized, thereby making the internal components of the base station more compact and the base station smaller in size.
  • the shielding mechanism 2 may include: a magnetic member arranged on the shielding member 21; and an electromagnet arranged on the main body 1.
  • the electromagnet When the electromagnet is energized, the electromagnet generates a suction force on the magnetic member to make the magnetic member drive the shield 21 to rotate until the opening 12 is open; when the electromagnet is not energized, the shield 21 rotates under the action of gravity until the opening 12 is closed status.
  • the electromagnet can be arranged at a position substantially above the magnetic member, so that the attraction force of the electromagnet to the magnetic member can overcome the gravity of the magnetic member and the shielding member 21, so that the shielding member 21 can move upward.
  • the base station used to house the ground cleaning robot may include a detection mechanism.
  • the detection mechanism includes a transmitting unit 31 and a receiving unit 32.
  • the receiving unit is used to receive the parallel output from the transmitting unit 31.
  • the signal passing through the accommodating cavity 11 can be detected whether there is a foreign object in the accommodating cavity 11 through the transmitting unit 31 and the receiving unit 32.
  • the base station detects the presence of foreign objects in the accommodating cavity 11, it can send a reminder to the user to clean the foreign objects or the base station will not allow the ground cleaning robot to return to drive into the accommodating cavity 11 of the main body 1 within this period of time.
  • the detection mechanism may include: a transmitting unit 31 and a receiving unit 32 arranged on the inner wall of the main body 1, and the receiving unit 32 is configured to receive a signal sent by the transmitting unit 31 and passing through the accommodating cavity 11.
  • the receiving unit 32 receives the signal sent by the transmitting unit 31, it is determined that no foreign matter has entered the accommodating cavity 11.
  • the receiving unit 32 cannot receive the signal sent by the transmitting unit 31, it is determined that a foreign object has entered the containing cavity 11.
  • the foreign objects in the accommodating cavity 11 block the signal sent by the transmitting unit 31, and the receiving unit 32 cannot receive the signal. Therefore, the base station can determine that there is a foreign object in the accommodating cavity 11.
  • the transmitting unit 31 and the receiving unit 32 are relatively disposed on the inner wall of the main body 1.
  • the transmitting unit 31 faces the receiving unit 32, and the receiving unit 32 faces the transmitting unit 31.
  • One of the two is located on the upper inner side wall of the main body 1, and the other of the two is located on the lower inner side wall of the main body 1.
  • the signal emitted by the transmitting unit 31 passes through the accommodating cavity 11 and then reaches the receiving unit 32. If there is a foreign object on the straight line between the transmitting unit 31 and the receiving unit 32 in the accommodating cavity 11, the receiving unit 32 cannot receive the signal. At this time, the base station can determine that a foreign object has entered the accommodating cavity 11.
  • the transmitting unit 31 and the receiving unit 32 may be arranged on the same side of the inner wall of the main body 1, and the base station for storing the floor cleaning robot may include: a transmitting unit arranged on the inner wall of the main body 1.
  • the unit 31 and the receiving unit 32 are located at the reflecting member 4 on the opposite side of one side, and the reflecting member 4 is used to reflect the signal sent by the transmitting unit 31 to the receiving unit 32.
  • the signal emitted by the transmitting unit 31 passes through the accommodating cavity 11, reaches the reflector 4, passes through the accommodating cavity 11 again after being reflected by the reflector 4, and finally reaches the receiving unit 32.
  • the receiving unit 32 cannot receive the signal. At this time, the base station It can be determined that foreign matter has entered the accommodating cavity 11.
  • the transmitting unit 31 and the receiving unit 32 are arranged on the same side of the inner wall of the main body 1.
  • the receiving unit 32 receives the signal sent by the transmitting unit 31, it is determined that a foreign object has entered the containing cavity 11.
  • the receiving unit 32 cannot receive the signal sent by the transmitting unit 31, it is determined that no foreign matter enters the accommodating cavity 11.
  • the transmitting unit 31 sends a signal. If there is no foreign object in the containing cavity 11, the signal cannot reach the receiving unit 32 through reflection, scattering or diffuse reflection. At this time, the receiving unit 32 cannot receive the signal, and the base station determines that there is no foreign object in the containing cavity 11. Foreign objects have entered.
  • the signal can reach the receiving unit 32 through reflection or scattering or diffuse reflection of the foreign object.
  • the receiving unit 32 receives the signal, and the base station determines that there is a foreign object in the accommodating cavity 11.
  • the transmitting unit 31 may be a light transmitting unit 31, and the receiving unit 32 may be a light receiving unit.
  • the light emitting unit 31 may be an infrared sensor transmitter, and the light receiving unit 32 may be an infrared sensor receiver.
  • the light emitting unit 31 and the light receiving unit 32 may also be other types of light emitting and receiving units 32, which are not limited in this application.
  • the reflector 4 is a type of element capable of reflecting light.
  • the transmitting unit 31 may also be an ultrasonic transmitting unit 31, and the receiving unit 32 may be an ultrasonic receiving unit.
  • the transmitting unit 31 is an ultrasonic transmitting unit 31, the reflector 4 may be a type of element capable of reflecting ultrasonic waves.
  • the base station when the detection mechanism detects that there is a foreign object in the accommodating cavity 11, the base station sends a reminder message to the user.
  • the reminder information can be a sound alarm, a light alarm, or a reminder text or symbol displayed on the display screen of the base station, and can also be a message sent to an electronic device bound to the user, such as a mobile phone.
  • the user can know for the first time that there is a foreign object in the containing cavity 11 of the base station body 1 that needs to be cleaned.
  • the foreign object can be cats, dogs, animals, etc., or other miscellaneous objects.
  • the shielding mechanism 2 switches the opening 12 to a closed state to prevent foreign objects such as cats and dogs from entering. At this time, the detection mechanism does not detect the accommodating cavity 11.
  • the floor cleaning robot needs to drive out of the accommodating cavity 11 of the main body 1 of the base station
  • the floor cleaning robot communicates with the base station, and the base station causes the shielding mechanism 2 to switch the opening 12 from the closed state to the open state.
  • the shielding mechanism 2 switches the opening 12 from the open state to the closed state, and the detection mechanism starts to detect whether there are foreign objects in the accommodating cavity 11.
  • the ground cleaning robot When the ground cleaning robot needs to drive into the accommodating cavity 11 of the main body 1 of the base station, the ground cleaning robot communicates with the base station in advance, and the shielding mechanism 2 switches the opening 12 from the closed state to the open state.
  • the shielding mechanism 2 switches the opening 12 from the closed state to the open state, so as to avoid foreign objects in the short time after communication, such as the base station. ⁇ acceptance cavity 11 in.
  • the detection mechanism may not detect the containing cavity 11.
  • the shielding mechanism 2 switches the opening 12 to the closed state to prevent foreign objects such as cats and dogs from entering.
  • a charging docking mechanism 5 is installed on the inner wall of the main body 1.
  • the floor cleaning robot drives into and staying in the containing cavity 11 of the main body 1 of the base station, the floor cleaning robot can be connected to the charging docking mechanism 5. Docking, so that the base station can charge the ground cleaning robot.
  • the ground cleaning robot system includes: a ground cleaning robot; such as any one of the above-mentioned base stations for storing the ground cleaning robot.

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Manipulator (AREA)
  • Electric Vacuum Cleaner (AREA)

Abstract

一种用于收纳地面清理机器人的基站和地面清理机器人系统，其涉及家用电器领域，用于收纳地面清理机器人的基站包括：主体（1），主体（1）内部具有用于容纳地面清理机器人的容纳腔（11），主体（1）具有供地面清理机器人进入容纳腔（11）的开口（12）；安装在主体（1）上的遮挡机构（2），遮挡机构（2）能够对开口（12）进行遮挡以使开口（12）具有开启状态和关闭状态；检测机构，检测机构能够检测容纳腔（11）中是否存在异物，检测机构包括发射单元（31）和接收单元（32），接收单元（32）用于接受发射单元（31）发出的并经过容纳腔（11）的信号。能够对基站内部进行异物检测并防止地面清理机器人在工作时有异物进入基站。

Description

用于收纳地面清理机器人的基站和地面清理机器人系统
本申请要求了申请日为2019年12月12日，申请号为201911274823.2的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本公开涉及家用电器领域，特别涉及一种用于收纳地面清理机器人的基站和地面清理机器人系统。
背景技术
市面上现有用于地面清理的机器人有扫地机器人和拖地机器人，为了便于地面清理的机器人在清理完地面后自行进行停放，在地面清理机器人可行驶至的某一位置放置有用于收纳地面清理机器人的基站。当地面清理机器人理完地面后便能够自行行使至基站中停放。该基站同时也可以具有对地面清理机器人的充电功能，当地面清理机器人中电池的电量不足时也可以自动行使至基站中进行充电。
为了实现地面清理的机器人自动回到基站中，基本依靠充电座或基站发射红外，地面清理机器人接收基站信号确认位置，实现停放和/或回充。但基站发射的红外信号易受到障碍物的影响，例如，有很大一定比例的家庭中喂养了猫狗等宠物。当这些宠物处于基站内部时，地面清理机器人可能将无法进入基站内部或无法发现基站上的充电机构位置，从而导致无法对地面清理机器人回收和回充。同时，地面清理机器人经过长时间的基站寻找后会报错而不是提醒用户基站有异物进入。
发明内容
为了克服现有技术的上述缺陷，本公开实施例所要解决的技术问题是提供 了一种用于收纳地面清理机器人的基站和地面清理机器人系统，其能够对基站内部进行异物检测并防止地面清理机器人在工作时有异物进入基站。
本公开实施例的具体技术方案是：一种用于收纳地面清理机器人的基站，其特征在于，所述基站包括：主体，所述主体内部具有用于容纳地面清理机器人的容纳腔，所述主体具有供所述地面清理机器人进入所述容纳腔的开口；安装在所述主体上的遮挡机构，所述遮挡机构能够对所述开口进行遮挡以使所述开口具有开启状态和关闭状态；检测机构，所述检测机构能够检测所述容纳腔中是否存在异物，所述检测机构包括设置在所述主体内壁上的发射单元和设置在所述主体内壁上的接收单元，所述接收单元用于接收所述发射单元发出的并经过所述容纳腔的信号，以使所述遮挡机构对所述开口进行状态切换；所述遮挡机构包括遮挡件以及用于驱动所述遮挡件转动的电机或磁性件，所述遮挡件的两端分别通过轴安装在所述主体上，所述遮挡件能绕轴进行转动；当地面清理机器人需要进入所述容纳腔中时，地面清理机器人与所述基站进行通信，且在地面清理机器人与基站的距离达到预设距离时，所述遮挡机构将所述开口由关闭状态切换至开启状态，在地面清理机器人进入容纳腔中之后所述开口关闭；当所述地面清理机器人需要离开所述容纳腔时，地面清理机器人与基站进行通信，所述遮挡机构将所述开口由关闭状态切换至开启状态；当所述地面清理机器人离开所述容纳腔后，所述开口关闭；所述发射单元和所述接收单元设置在所述主体内壁的同一侧，所述基站还包括：设置在所述主体内壁的所述发射单元和所述接收单元处于一侧的相对侧的反射件，所述反射件用于将所述发射单元发出的信号反射至所述接收单元；当所述接收单元接收到所述发射单元发出的信号时，则判定所述容纳腔中无异物进入；当所述接收单元无法接收到所述发射单元发出的信号时，则判定所述容纳腔中有异物进入；或者，所述发射单元和所述接收单元设置在所述主体内壁的同一侧，当所述接收单元接收到所述发射单元的发出的信号时，则判定所述容纳腔中有异物进入；当所述接收单元无法接收到所述发射单元的发出的信号时，则判定所述容纳腔中无异物进入。
本公开实施例还提供了一种用于收纳地面清理机器人的基站，所述用于收纳地面清理机器人的基站包括：
主体，所述主体内部具有用于容纳地面清理机器人的容纳腔，所述主体具有供所述地面清理机器人进入所述容纳腔的开口；
安装在所述主体上的遮挡机构，所述遮挡机构能够对所述开口进行遮挡以使所述开口具有开启状态和关闭状态；
当地面清理机器人需要进入所述基站的所述容纳腔中时，所述地面清理机器人与所述用于收纳地面清理机器人的基站进行通信，以使所述遮挡机构将所述开口由关闭状态切换至开启状态；当所述地面清理机器人离开所述容纳腔后，所述开口进入关闭状态。
优选地，所述用于收纳地面清理机器人的基站还包括：
检测机构，所述检测机构能够检测所述容纳腔中是否存在异物，所述检测机构包括发射单元和接收单元，所述接收单元用于接受所述发射单元发出的并经过所述容纳腔的信号。
优选地，所述发射单元设置在所述主体内壁上，所述接收单元在所述主体内壁上。
优选地，所述发射单元和所述接收单元相对设置在所述主体内壁上。
优选地，当所述接收单元接收到所述发射单元的发出的信号时，则判定所述容纳腔中无异物进入；当所述接收单元无法接收到所述发射单元发出的信号时，则判定所述容纳腔中有异物进入。
优选地，所述发射单元和所述接收单元设置在所述主体内壁的同一侧，所述用于收纳地面清理机器人的基站还包括：设置在所述主体内壁的所述发射单元和所述接收单元处于一侧的相对侧的反射件，所述反射件用于将所述发射单元发出的信号反射至所述接收单元。
优选地，所述发射单元和所述接收单元设置在所述主体内壁的同一侧；当所述接收单元接收到所述发射单元的发出的信号时，则判定所述容纳腔中有异 物进入；当所述接收单元无法接收到所述发射单元的发出的信号时，则判定所述容纳腔中无异物进入。
优选地，所述发射单元为光发射单元，所述接收单元为光接受单元；或所述发射单元为超声波发射单元，所述接收单元为超声波接收单元。
优选地，当所述检测机构检测到所述容纳腔中存在异物时，所述基站向用户发出提醒信息。
优选地，所述遮挡机构包括：遮挡件，其两端分别通过轴安装在所述主体上，所述遮挡件能绕轴进行转动，所述遮挡件通过转动能对所述开口进行遮挡以使所述开口具有开启状态和关闭状态。
优选地，所述遮挡机构还包括：电机，所述遮挡件在转动轴的一端具有齿轮部，所述电机与所述遮挡件的齿轮部相传动连接，以使所述齿轮部带动遮挡件进行转动。
优选地，所述遮挡机构还包括：蜗杆，所述电机与所述蜗杆相连接，所述蜗杆与所述齿轮部相啮合。
优选地，所述遮挡机构还包括：设置在所述遮挡件上的磁性件；设置在所述主体上的电磁铁，当所述电磁铁通电时，所述电磁铁对所述磁性件产生吸力以使所述磁性件带动所述遮挡件转动至所述开口处于开启状态；当所述电磁铁不通电时，所述遮挡件转动至所述开口处于关闭状态。
优选地，在所述地面清理机器人与所述用于收纳地面清理机器人的基站进行通信后，地面清理机器人与所述基站的距离达到预设距离时，所述遮挡机构再将所述开口由关闭状态切换至开启状态。
优选地，当所述地面清理机器人需要离开所述容纳腔时，所述地面清理机器人与所述基站进行通信，以使所述遮挡机构将所述开口由关闭状态切换至开启状态。
一种地面清理机器人系统，所述地面清理机器人系统包括：地面清理机器人；如上述任一所述的用于收纳地面清理机器人的基站。
本公开的技术方案具有以下显著有益效果：
本申请中用于收纳地面清理机器人的基站当地面清理机器人需要离开主体的容纳腔时，所述开口开启，地面清理机器人离开主体的容纳腔。当所述地面清理机器人离开所述容纳腔后，所述开口进入关闭状态，如此可以有效降低异物进入容纳腔的可能。当地面清理机器人需要进入所述基站的所述容纳腔中时，所述地面清理机器人与所述用于收纳地面清理机器人的基站进行通信，以使所述遮挡机构将所述开口由关闭状态切换至开启状态，面清理机器人随后进入至主体的容纳腔中，之后所述开口关闭。本申请中的用于收纳地面清理机器人的基站在保证收纳地面清理机器人进出方便的前提下可以有效避免降低异物进入容纳腔的可能。
参照后文的说明和附图，详细公开了本公开的特定实施方式，指明了本公开的原理可以被采用的方式。应该理解，本公开的实施方式在范围上并不因而受到限制。在所附权利要求的精神和条款的范围内，本公开的实施方式包括许多改变、修改和等同。针对一种实施方式描述和/或示出的特征可以以相同或类似的方式在一个或更多个其它实施方式中使用，与其它实施方式中的特征相组合，或替代其它实施方式中的特征。
附图说明
在此描述的附图仅用于解释目的，而不意图以任何方式来限制本公开公开的范围。另外，图中的各部件的形状和比例尺寸等仅为示意性的，用于帮助对本公开的理解，并不是具体限定本公开各部件的形状和比例尺寸。本领域的技术人员在本公开的教导下，可以根据具体情况选择各种可能的形状和比例尺寸来实施本公开。
图1为本公开实施例中用于收纳地面清理机器人的基站的结构示意图。
图2为本公开实施例中用于收纳地面清理机器人的基站在另一种实施方式下的结构示意图。
以上附图的附图标记：
1、主体；11、容纳腔；12、开口；2、遮挡机构；21、遮挡件；211、齿轮部；22、电机；23、蜗杆；31、发射单元；32、接收单元；4、反射件；5、充电对接机构。
具体实施方式
结合附图和本公开具体实施方式的描述，能够更加清楚地了解本公开的细节。但是，在此描述的本公开的具体实施方式，仅用于解释本公开的目的，而不能以任何方式理解成是对本公开的限制。在本公开的教导下，技术人员可以构想基于本公开的任意可能的变形，这些都应被视为属于本公开的范围。需要说明的是，当元件被称为“设置于”另一个元件，它可以直接在另一个元件上或者也可以存在居中的元件。当一个元件被认为是“连接”另一个元件，它可以是直接连接到另一个元件或者可能同时存在居中元件。术语“安装”、“相连”、“连接”应做广义理解，例如，可以是机械连接或电连接，也可以是两个元件内部的连通，可以是直接相连，也可以通过中间媒介间接相连，对于本领域的普通技术人员而言，可以根据具体情况理解上述术语的具体含义。本文所使用的术语“垂直的”、“水平的”、“上”、“下”、“左”、“右”以及类似的表述只是为了说明的目的，并不表示是唯一的实施方式。
除非另有定义，本文所使用的所有的技术和科学术语与属于本申请的技术领域的技术人员通常理解的含义相同。本文中在本申请的说明书中所使用的术语只是为了描述具体的实施方式的目的，不是旨在于限制本申请。本文所使用的术语“和/或”包括一个或多个相关的所列项目的任意的和所有的组合。
为了能够对基站内部进行异物检测并防止地面清理机器人在工作时有异物进入基站，在本申请中提出了一种用于收纳地面清理机器人的基站，图1为本公开实施例中用于收纳地面清理机器人的基站的结构示意图，图2为本公开实施例中用于收纳地面清理机器人的基站在另一种实施方式下的结构示意图，如图1 和图2所示，用于收纳地面清理机器人的基站可以包括：主体1，主体1内部具有用于容纳地面清理机器人的容纳腔11，主体1具有供地面清理机器人进入容纳腔11的开口12；安装在主体1上的遮挡机构2，遮挡机构2能够对开口12进行遮挡以使开口12具有开启状态和关闭状态；当地面清理机器人需要进入所述基站的所述容纳腔11中时，所述地面清理机器人与所述用于收纳地面清理机器人的基站进行通信，以使所述遮挡机构将所述开口12由关闭状态切换至开启状态；当所述地面清理机器人离开所述容纳腔后，所述开口12进入关闭状态。
本申请中用于收纳地面清理机器人的基站当地面清理机器人需要离开主体1的容纳腔11时，所述开口开启，地面清理机器人离开主体1的容纳腔11。当所述地面清理机器人离开所述容纳腔后，所述开口进入关闭状态，如此可以有效降低异物进入容纳腔11的可能。当地面清理机器人需要进入所述基站的所述容纳腔11中时，所述地面清理机器人与所述用于收纳地面清理机器人的基站进行通信，以使所述遮挡机构将所述开口12由关闭状态切换至开启状态，面清理机器人随后进入至主体1的容纳腔11中，之后所述开口关闭。本申请中的用于收纳地面清理机器人的基站在保证收纳地面清理机器人进出方便的前提下可以有效避免降低异物进入容纳腔11的可能。
为了能够更好的了解本申请中的用于收纳地面清理机器人的基站，下面将对其做进一步解释和说明。如图1和图2所示，用于收纳地面清理机器人的基站的主体1用于对地面清理机器人进行收纳。当地面清理机器人不工作或者需要充电时，基站的主体1就将地面清理机器人收纳在其中。主体1内部具有用于容纳地面清理机器人的容纳腔11，容纳腔11的形状可以与地面清理机器人的形状相匹配对应，需要保证地面清理机器人能够驶入并大体或完全位于容纳腔11中。一般而言，主体1的水平横截面可以大体呈正方形或者长方形，地面清理机器人可以驶入至该容纳腔11中，并停留在其中。
在一种可行的实施方式中，如图1和图2所示，主体1具有供地面清理机器人进入容纳腔11的开口12；开口12与容纳腔11相通。该开口12可以可以 位于主体1的某一侧面处，地面清理机器人能够在地面上从主体1的该侧面的开口12驶入容纳腔11中。该开口12尺寸大于地面清理机器人的尺寸，从而使得地面清理机器人能够通过该开口12驶入至容纳腔11中。
如图1和图2所示，用于收纳地面清理机器人的基站的遮挡机构2可以安装在主体1上面。遮挡机构2能够对开口12进行遮挡以使开口12具有开启状态和关闭状态。当遮挡机构2对开口12进行遮挡时，开口12处于关闭状态；当遮挡机构2对开口12未进行遮挡时，开口12处于开启状态。
在一种可行的实施方式中，如图1和图2所示，遮挡机构2可以包括：遮挡件21，其两端分别通过轴安装在主体1上，遮挡件21能绕轴进行转动，遮挡件21通过转动能对开口12进行遮挡以使开口12具有开启状态和关闭状态。遮挡件21可以为一个，也可以为两个，分别安装在开口的上下两处。在一种可行的实施方式中，遮挡件21的边缘上下端可以只具有凸起，安装在主体1上便可以充当轴进行转动。当遮挡件21的绕两端进行转动时，位于开口12处的部分遮挡件21就会以轴为中心向容纳腔11内部或基站的外部进行转动，从而使得遮挡件21远离开口12，开口12进入开启状态。当部分遮挡件21向开口12处转动时，遮挡件21靠近开口12，从而遮挡件21对开口12遮挡，从而阻止异物或者地面清理机器人驶入主体1的容纳腔11中。
为了实现遮挡件21的转动，在一种可行的实施方式中，如图1和图2所示，遮挡机构2可以包括：电机22，遮挡件21在转动轴的一端具有齿轮部211，齿轮部211可以位于遮挡件21的端部且遮挡件21的转动轴垂直于齿轮端面，电机22与遮挡件21的齿轮部211相传动连接。当电机22绕一个方向转动时，可以通过齿轮部211带动遮挡件21向容纳腔11内部或基站的外部进行转动；当遮挡件21向开口12处转动时，只需让电机22绕另一个相反的方向转动即可。优选地，遮挡机构可以包括：蜗杆23，所述电机与所述蜗杆23相连接，所述蜗杆23与所述齿轮部211相啮合。由于基站的高度高宽有限，体积不能太大，因此电机22的轴不便与遮挡件21的转动轴相平行设置。通过蜗杆23进行传动， 可以使得电机22的轴与遮挡件21的转动轴相垂直，如此，如图1所示可以将电机设置在基站的上侧和下侧，电机的轴呈水平状态，蜗杆也呈水平状态，电机22带动蜗杆23转动，进而带动齿轮部211转动，以使遮挡件21转动。通过上述方式可以优化电机22的位置设置，从而使得基站内部零部件更为紧凑，基站体积更小。
在另一种可行的实施方式中，遮挡机构2可以包括：设置在遮挡件21上的磁性件；设置在主体1上的电磁铁。当电磁铁通电时，电磁铁对磁性件产生吸力以使磁性件带动遮挡件21转动至开口12处于开启状态；当电磁铁不通电时，遮挡件21在重力的作用下转动至开口12处于关闭状态。电磁铁设置在磁性件的大体上方位置即可，这样可以使得电磁铁对磁性件的吸力克服磁性件、遮挡件21的重力，从而使得遮挡件21向上移动。
在一种可行的实施方式中，如图1所示，用于收纳地面清理机器人的基站可以包括检测机构，检测机构包括发射单元31和接收单元32，接受单元用于接受发射单元31发出的并经过容纳腔11的信号，通过发射单元31和接收单元32能够检测容纳腔11中是否存在异物。当基站检测到容纳腔11中存在异物时，其可以向用户发出提醒以让用户来清理异物或者在此时间段内基站不让地面清理机器人回归驶入主体1的容纳腔11中。
在一种可行的实施方式中，检测机构可以包括：设置在主体1内壁上的发射单元31和接收单元32，接收单元32用于接收发射单元31发出的并经过容纳腔11的信号。地面清理机器人驶出基站的容纳腔11以后，当接收单元32接收到发射单元31的发出的信号时，则判定容纳腔11中无异物进入。当接收单元32无法接收到发射单元31发出的信号时，则判定容纳腔11中有异物进入。此时，容纳腔11中的异物阻挡了发射单元31发出的信号，接收单元32无法接收到该信号，因此，基站可以判定容纳腔11中有异物进入。
如图1所示，在一种可行的实施方式中，如图1所示，发射单元31和接收单元32相对设置在主体1内壁上。发射单元31朝向接收单元32，接收单元32 朝向发射单元31。两者中的一个位于主体1的上内侧壁上，两者中的另一个位于主体1的下内侧壁上。发射单元31发射的信号穿过容纳腔11，再到达接收单元32。若容纳腔11中发射单元31和接收单元32之间的直线上存在异物，则接收单元32无法接收到该信号，此时，基站可以判定容纳腔11中有异物进入。
在一种可行的实施方式中，如图2所示，发射单元31和接收单元32可以设置在主体1内壁的同一侧，用于收纳地面清理机器人的基站可以包括：设置在主体1内壁的发射单元31和接收单元32处于一侧的相对侧的反射件4，反射件4用于将发射单元31发出的信号反射至接收单元32。发射单元31发射的信号穿过容纳腔11，达到反射件4，经过反射件4反射后再次穿过容纳腔11，最终到达接收单元32。若容纳腔11中发射单元31和反射件4之间的直线上存在异物，或接收单元32和反射件4之间的直线上存在异物，则接收单元32无法接收到该信号，此时，基站可以判定容纳腔11中有异物进入。
在一种可行的实施方式中，发射单元31和接收单元32设置在主体1内壁的同一侧。当接收单元32接收到发射单元31的发出的信号时，则判定容纳腔11中有异物进入。当接收单元32无法接收到发射单元31的发出的信号时，则判定容纳腔11中无异物进入。发射单元31发出信号，若容纳腔11中无异物，该信号不能经过反射或散射或漫反射等到达接收单元32，此时，接收单元32无法接收到该信号，基站则判定容纳腔11中无异物进入。若容纳腔11中有异物，该信号经过异物的反射或散射或漫反射等能够到达接收单元32，此时，接收单元32接收到该信号，基站则判定容纳腔11中存在异物。
在上述几个实施方式中，发射单元31可以是光发射单元31，接收单元32可以是光接受单元。例如，光发射单元31可以是红外传感发射器，光接收单元32可以是红外传感接收器。当然，光发射单元31和光接收单元32也可以是其它类型的光发射、接收单元32，在本申请中对此不做任何限定。当发射单元31是光发射单元31时，反射件4是能够反射光的一类元件。发射单元31也可以 是超声波发射单元31，接收单元32可以是超声波接受单元。当发射单元31是超声波发射单元31时，反射件4可以是能够反射超声波的一类元件。
在一种可行的实施方式中，当检测机构检测到容纳腔11中存在异物时，基站向用户发出提醒信息。该提醒信息可以是声音警报、灯光警报，也可以是基站显示屏幕上显示的提醒文字或符号，还可以是向用户绑定的电子设备发送信息，例如手机等。通过上述方式用户能够第一时间知晓基站主体1的容纳腔11中存在异物需要清理。当然，该异物可以是猫狗动物等或者是其它杂物等等。
在一种可行的实施方式中，当地面清理机器人驶入停留在基站的主体1的容纳腔11中时，遮挡机构2将开口12切换至关闭状态，以防止猫狗等异物进入。此时，检测机构不对容纳腔11进行检测。当地面清理机器人需要驶出基站的主体1的容纳腔11时，地面清理机器人与基站进行通信，基站使得遮挡机构2将开口12由关闭状态切换至开启状态。待地面清理机器人需要驶出基站的主体1的容纳腔11在外工作以后，遮挡机构2将开口12由开启状态切换至关闭状态，检测机构开始对述容纳腔11中是否存在异物进行检测。当地面清理机器人需要驶入基站的主体1的容纳腔11中时，地面清理机器人提前与基站进行通讯，遮挡机构2将开口12由关闭状态切换至开启状态。在一种可行的实施方式中，当地面清理机器人向基站行使至预设距离时，遮挡机构2再将开口12由关闭状态切换至开启状态，避免在通讯后的短暂时间内有异物进行如基站的容纳腔11中。在进行通讯以后，检测机构可以不对容纳腔11进行检测。待当地面清理机器人驶入停留在基站的主体1的容纳腔11中后，遮挡机构2再将开口12切换至关闭状态，以防止猫狗等异物进入。
在一种可行的实施方式中，主体1的内壁上安装有充电对接机构5，当地面清理机器人驶入停留在基站的主体1的容纳腔11中时，地面清理机器人可以与充电对接机构5实现对接，从而使得基站对地面清理机器人进行充电。
在本申请中还提出了一种地面清理机器人系统，地面清理机器人系统包括：地面清理机器人；如上述中任一的用于收纳地面清理机器人的基站。
披露的所有文章和参考资料，包括专利申请和出版物，出于各种目的通过援引结合于此。描述组合的术语“基本由…构成”应该包括所确定的元件、成分、部件或步骤以及实质上没有影响该组合的基本新颖特征的其他元件、成分、部件或步骤。使用术语“包含”或“包括”来描述这里的元件、成分、部件或步骤的组合也想到了基本由这些元件、成分、部件或步骤构成的实施方式。这里通过使用术语“可以”，旨在说明“可以”包括的所描述的任何属性都是可选的。多个元件、成分、部件或步骤能够由单个集成元件、成分、部件或步骤来提供。另选地，单个集成元件、成分、部件或步骤可以被分成分离的多个元件、成分、部件或步骤。用来描述元件、成分、部件或步骤的公开“一”或“一个”并不说为了排除其他的元件、成分、部件或步骤。
本说明书中的各个实施例均采用递进的方式描述，每个实施例重点说明的都是与其他实施例的不同之处，各个实施例之间相同相似的部分互相参见即可。上述实施例只为说明本公开的技术构思及特点，其目的在于让熟悉此项技术的人士能够了解本公开的内容并据以实施，并不能以此限制本公开的保护范围。凡根据本公开精神实质所作的等效变化或修饰，都应涵盖在本公开的保护范围之内。

Claims (17)

  1. 一种用于收纳地面清理机器人的基站，其特征在于，所述基站包括：
    主体，所述主体内部具有用于容纳地面清理机器人的容纳腔，所述主体具有供所述地面清理机器人进入所述容纳腔的开口；
    安装在所述主体上的遮挡机构，所述遮挡机构能够对所述开口进行遮挡以使所述开口具有开启状态和关闭状态；
    检测机构，所述检测机构能够检测所述容纳腔中是否存在异物，所述检测机构包括设置在所述主体内壁上的发射单元和设置在所述主体内壁上的接收单元，所述接收单元用于接收所述发射单元发出的并经过所述容纳腔的信号，以使所述遮挡机构对所述开口进行状态切换；
    所述遮挡机构包括遮挡件以及用于驱动所述遮挡件转动的电机或磁性件，所述遮挡件的两端分别通过轴安装在所述主体上，所述遮挡件能绕轴进行转动；
    当地面清理机器人需要进入所述容纳腔中时，地面清理机器人与所述基站进行通信，且在地面清理机器人与基站的距离达到预设距离时，所述遮挡机构将所述开口由关闭状态切换至开启状态，在地面清理机器人进入容纳腔中之后所述开口关闭；
    当所述地面清理机器人需要离开所述容纳腔时，地面清理机器人与基站进行通信，所述遮挡机构将所述开口由关闭状态切换至开启状态；当所述地面清理机器人离开所述容纳腔后，所述开口关闭；
    所述发射单元和所述接收单元设置在所述主体内壁的同一侧，所述基站还包括：设置在所述主体内壁的所述发射单元和所述接收单元处于一侧的相对侧的反射件，所述反射件用于将所述发射单元发出的信号反射至所述接收单元；当所述接收单元接收到所述发射单元发出的信号时，则判定所述容纳腔中无异物进入；当所述接收单元无法接收到所述发射单元发出的信号时，则判定所述容纳腔中有异物进入；或者，所述发射单元和所述接收单元设置在所述主体内壁的同一侧，当所述接收单元接收到所述发射单元的发出的信号时，则判定所 述容纳腔中有异物进入；当所述接收单元无法接收到所述发射单元的发出的信号时，则判定所述容纳腔中无异物进入。
  2. 一种用于收纳地面清理机器人的基站，其特征在于，所述用于收纳地面清理机器人的基站包括：
    主体，所述主体内部具有用于容纳地面清理机器人的容纳腔，所述主体具有供所述地面清理机器人进入所述容纳腔的开口；
    安装在所述主体上的遮挡机构，所述遮挡机构能够对所述开口进行遮挡以使所述开口具有开启状态和关闭状态；
    当地面清理机器人需要进入所述基站的所述容纳腔中时，所述地面清理机器人与所述用于收纳地面清理机器人的基站进行通信，以使所述遮挡机构将所述开口由关闭状态切换至开启状态；当所述地面清理机器人离开所述容纳腔后，所述开口进入关闭状态。
  3. 根据权利要求2所述的用于收纳地面清理机器人的基站，其特征在于，所述用于收纳地面清理机器人的基站还包括：
    检测机构，所述检测机构能够检测所述容纳腔中是否存在异物，所述检测机构包括发射单元和接收单元，所述接收单元用于接受所述发射单元发出的并经过所述容纳腔的信号。
  4. 根据权利要求3所述的用于收纳地面清理机器人的基站，其特征在于，所述发射单元设置在所述主体内壁上，所述接收单元在所述主体内壁上。
  5. 根据权利要求4所述的用于收纳地面清理机器人的基站，其特征在于，所述发射单元和所述接收单元相对设置在所述主体内壁上。
  6. 根据权利要求3所述的用于收纳地面清理机器人的基站，其特征在于，当所述接收单元接收到所述发射单元的发出的信号时，则判定所述容纳腔中无异物进入；当所述接收单元无法接收到所述发射单元发出的信号时，则判定所述容纳腔中有异物进入。
  7. 根据权利要求4所述的用于收纳地面清理机器人的基站，其特征在于， 所述发射单元和所述接收单元设置在所述主体内壁的同一侧，所述用于收纳地面清理机器人的基站还包括：设置在所述主体内壁的所述发射单元和所述接收单元处于一侧的相对侧的反射件，所述反射件用于将所述发射单元发出的信号反射至所述接收单元。
  8. 根据权利要求1所述的用于收纳地面清理机器人的基站，其特征在于，所述发射单元和所述接收单元设置在所述主体内壁的同一侧；当所述接收单元接收到所述发射单元的发出的信号时，则判定所述容纳腔中有异物进入；当所述接收单元无法接收到所述发射单元的发出的信号时，则判定所述容纳腔中无异物进入。
  9. 根据权利要求3所述的用于收纳地面清理机器人的基站，其特征在于，所述发射单元为光发射单元，所述接收单元为光接受单元；或所述发射单元为超声波发射单元，所述接收单元为超声波接收单元。
  10. 根据权利要求3所述的用于收纳地面清理机器人的基站，其特征在于，当所述检测机构检测到所述容纳腔中存在异物时，所述基站向用户发出提醒信息。
  11. 根据权利要求1所述的用于收纳地面清理机器人的基站，其特征在于，所述遮挡机构包括：遮挡件，其两端分别通过轴安装在所述主体上，所述遮挡件能绕轴进行转动，所述遮挡件通过转动能对所述开口进行遮挡以使所述开口具有开启状态和关闭状态。
  12. 根据权利要求11所述的用于收纳地面清理机器人的基站，其特征在于，所述遮挡机构还包括：电机，所述遮挡件在转动轴的一端具有齿轮部，所述电机与所述遮挡件的齿轮部相传动连接，以使所述齿轮部带动遮挡件进行转动。
  13. 根据权利要求12所述的用于收纳地面清理机器人的基站，其特征在于，所述遮挡机构还包括：蜗杆，所述电机与所述蜗杆相连接，所述蜗杆与所述齿轮部相啮合。
  14. 根据权利要求11所述的用于收纳地面清理机器人的基站，其特征在于，所述遮挡机构还包括：设置在所述遮挡件上的磁性件；设置在所述主体上的电磁铁，当所述电磁铁通电时，所述电磁铁对所述磁性件产生吸力以使所述磁性件带动所述遮挡件转动至所述开口处于开启状态；当所述电磁铁不通电时，所述遮挡件转动至所述开口处于关闭状态。
  15. 根据权利要求2所述的用于收纳地面清理机器人的基站，其特征在于，在所述地面清理机器人与所述用于收纳地面清理机器人的基站进行通信后，地面清理机器人与所述基站的距离达到预设距离时，所述遮挡机构再将所述开口由关闭状态切换至开启状态。
  16. 根据权利要求2所述的用于收纳地面清理机器人的基站，其特征在于，当所述地面清理机器人需要离开所述容纳腔时，所述地面清理机器人与所述基站进行通信，以使所述遮挡机构将所述开口由关闭状态切换至开启状态。
  17. 一种地面清理机器人系统，其特征在于，所述地面清理机器人系统包括：地面清理机器人；如权利要求1至16中任一所述的用于收纳地面清理机器人的基站。
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